| 潜艇水平面运动的非线性滑动控制 |
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| 引用本文： | 罗凯,李俊,许汉珍.潜艇水平面运动的非线性滑动控制[J].华中科技大学学报(自然科学版),1999(11). |
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| 作者姓名： | 罗凯 李俊 许汉珍 |
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| 作者单位： | 华中理工大学交通科学与工程学院 |
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| 摘 要： | 对潜艇运动模型进行了合理简化，考虑了横向速度对航向角速度的耦合影响，对非线性系统直接进行控制规律的综合，研究了潜艇航向调节和航迹保持两种控制问题．得出的滑动控制规律物理机理明确，算法简单，易于实现．仿真结果表明，控制效果良好．
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| 关 键 词： | 潜艇 滑动控制 航向 航迹 |
Nonlinear Sliding Control of Submarine in Horizontal Plane Movement |
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| Luo Kai,Li Jun,Xu Hanzhen.Nonlinear Sliding Control of Submarine in Horizontal Plane Movement[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1999(11). |
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| Authors: | Luo Kai Li Jun Xu Hanzhen |
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| Institution: | Luo Kai Li Jun Xu Hanzhen |
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| Abstract: | The movement model is reasonably simplified, and the coupling between the lateral velocity and the yaw angle velocity are considered. The nonlinear sliding control law is designed, and the control of course and path is researched. The mechanism of the law is definite, and the algorithm is simple and easy to realize. The simulation results reveal the advantage of the method. |
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| Keywords: | submarine sliding control course path |
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